| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - real |
| - hdf5 |
| - hessian |
| - lerobot |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
|
|
|
|
| - **Homepage:** [More Information Needed] |
| - **Paper:** [More Information Needed] |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v2.1", |
| "robot_type": "hessian", |
| "total_episodes": 246, |
| "total_frames": 76383, |
| "total_tasks": 1, |
| "total_videos": 738, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 60, |
| "splits": { |
| "train": "0:246" |
| }, |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
| "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
| "features": { |
| "observation.images.video_left": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 60, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.video_overhead": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 60, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.video_right": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 60, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "state" |
| ] |
| }, |
| "observation.velocity": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "velocity" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "action" |
| ] |
| }, |
| "source.action_time_s": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.failure": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.subgoal_switch": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.compress": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.double_arm": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.error_recovery": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.error_recovery_probability": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.error_recovery_probability_present": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.failure_count": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.failure_key": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.has_raw_actions": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.landmark_mode_enabled": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.left_interface": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.num_landmarks": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.partial_subgoal_completed_count": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.partial_subgoal_completed_order": { |
| "dtype": "int64", |
| "shape": [ |
| 2 |
| ], |
| "names": null |
| }, |
| "metadata.partial_subgoal_completed_order_length": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.partial_subgoal_completed_order_string": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.partial_subgoal_full_order": { |
| "dtype": "int64", |
| "shape": [ |
| 3 |
| ], |
| "names": null |
| }, |
| "metadata.partial_subgoal_full_order_length": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.partial_subgoal_mode_enabled": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.partial_subgoal_remaining_order": { |
| "dtype": "int64", |
| "shape": [ |
| 3 |
| ], |
| "names": null |
| }, |
| "metadata.partial_subgoal_remaining_order_length": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.partial_subgoal_remaining_order_string": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.partial_subgoal_start_key": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.partial_subgoal_start_timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.recording_stop_event_timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.recording_stop_key": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.right_interface": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.robot_type": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.sim": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.single_arm": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.subgoal_order": { |
| "dtype": "int64", |
| "shape": [ |
| 3 |
| ], |
| "names": null |
| }, |
| "metadata.subgoal_order_length": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.subgoal_order_string": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.subgoal_switch_count": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.subgoal_switch_key": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.subgoal_switch_timestamps": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": null |
| }, |
| "metadata.subgoal_switch_timestamps_length": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.task_name": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "prompt": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
